Installation and Commissioning

SpotWare 3.14.3 SpotWare 3.1SpotWare comprises a large number of dedicated spot welding functions which makethe robot well suited for spot welding. It is a simple yet powerful program since boththe positioning of the robot and the process control and monitoring are handled in oneand the same instruction.Cycle times can be shortened by means of closing the spot welding gun in advance,together with the fact that movement can commence immediately after a spot weld iscompleted. The robot’s self-optimising motion control, which results in fastacceleration and a quick approach to the spot weld, also contributes to making cycletimes shorter.I/O signals, timing sequences and weld error actions can be easily configured to meetthe requirements of a specific installation.SpotWare functionsA few examples of some useful functions are given below.Adaptation to different welding gunsGun control (opening and closing) can be programmed freely to suit most types ofguns, irrespective of the signal interface.Adaptation to different weld timersThe robot can handle different types of weld timers. Normally communication with theweld timer uses parallel signals but a serial interface is also available for some types ofweld timers.Continuous supervision of the welding equipmentIf the option Multitasking is added, supervision can be implemented irrespective of thespotweld instruction. For example, it is possible to monitor peripheral equipment evenwhen program execution has been stopped.Closing the gunIt is possible to start closing the spot welding gun before reaching the programmedpoint. By defining a time of closure, the gun can be closed correctly regardless of thespeed of the robot. The cycle time is optimised when the gun is just about to close atthe instant when the robot reaches the programmed point.Constant squeeze timeWelding can be started directly as the gun closes, i.e. without waiting for the robot toreach its final position. This gives a constant time between gun closure and weld start.Customised Move enableThe movement after a completed spot weld can be configured to start either on a userdefined input signal or a delay time after weld ready.Product Specification RobotWare for BaseWare OS 3.1 33